WO2024122730A1 - Rotational joint device for driving wearable robot cable - Google Patents

Abstract

The present invention relates to a rotational joint device for driving a wearable robot cable, the device being improved such that only one motor is used to bidirectionally drive a joint cable and torque can be amplified through repeated routing applied to a rolling joint. The present invention provides the rotational joint device for driving a wearable robot cable, comprising: a base; a joint part provided at the base; a link member provided to be linked to the joint part; a driving cable of which one side is connected to the link member so that the link member is driven; and a cable driving part to which the other side of the driving cable is connected so that the driving cable is driven, thereby allowing the link member to be driven.

Description

Cable driven rotary joint device for wearable robots

The present invention relates to a cable-driven rotary joint device for a wearable robot. More specifically, the present invention relates to a cable-driven rotary joint device for a wearable robot, and more specifically, to enable two-way cable driving of the joint using only one motor and to enable amplification of torque through repetitive routing applied to the rolling joint. This relates to an improved cable-driven rotary joint device for wearable robots.

In general, the field of robot technology and the robotics industry is being researched and developed into industrial robots used in industrial settings and medical robots used in medical settings.

These robots are composed of a plurality of joint assemblies to enable joint movements similar to the joint movements of the human body, and robot joint wires (or cables) having a plurality of joint assemblies are connected to form a plurality of joint assemblies through actions such as pulling the wire. Rotational movement can be activated.

In addition, a method of connecting a motor to each of the wires and operating a rotational movement between the joint assemblies according to the operation of the motor may be used.

Meanwhile, the rotary joints of existing wearable robots generally have problems in that motors, including reducers and sensors, are directly connected, which increases the volume of the joints, causing limitations in movement, and increases the moment of inertia, making it difficult to move lightly and quickly.

To solve this existing problem, there was a method of remotely driving the robot by connecting the motor installed on the base (or the body of the wearable robot) with the corresponding actuating joint cable (or wire).

However, there are major disadvantages depending on the type of joint.

In other words, in the case of a general rotary joint, if there is no separate reducer in the joint, high rigidity of the cable is required for accurate operation.

On the other hand, in the case of rolling joints that have recently been introduced in surgical robots and humanoid robots, repetitive routing of the drive cable is possible, so high driving accuracy can be expected along with amplification of torque.

However, rolling joints are difficult to apply to wearable robots due to structural differences from human joints.

[Prior art literature]

[Patent Document]

(Patent Document 1) 1. Collision detection device for an articulated robot disclosed in Publication No. 10-2015-0080050 (published on July 9, 2015) and collision detection method using the same

The present invention was created to solve the above problems, and is a wearable robot that enables two-way cable driving of joints using only one motor and amplification of torque through repetitive routing applied to rolling joints. The purpose is to provide a cable-driven rotary joint device.

The cable-driven rotary joint device for a wearable robot of the present invention to achieve the above object,

with base;

a joint installed on the base;

A link member installed and linked to the joint portion;

a drive cable on one side of which is connected to the link member to drive the link member;

It is characterized in that it includes a cable driving part that is connected to the other side of the driving cable and drives the driving cable to drive the link member.

In the present invention, the cable driving unit includes a fixing member fixed to the base; an operating member installed to operate in conjunction with the fixing member; a drive motor installed on the fixing member; and a pulley coupled to the drive motor; It further includes a motor cable, one side of which is installed on the pulley, and both ends of which are installed on the operating member to operate the operating member.

In the present invention, both ends of the drive cable are fixedly installed on the operating member. The fixing member and the operating member are in contact with each other to form a rolling surface that allows rolling movement, and an intermediate link is provided at the center of the fixing member and the operating member to maintain the distance between the rolling surfaces. The intermediate link is rotated by the drive motor.

In the present invention, the center of the operating member and the fixing member further includes a pair of gears that are engaged and driven.

In the present invention, a sun gear installed at the center of the fixing member; a planetary gear installed at the center of the operating member and engaged with the sun gear; It further includes a ring gear that meshes with the planetary gear and causes the planetary gear to rotate.

In the present invention, the cable driving unit includes a fixing member fixed to the base; a drive motor installed on the fixing member; a pair of non-circular rotating bodies driven by the driving motor; Pulleys each installed on the non-circular rotating body; wherein both ends of the drive cable are respectively installed on the pulleys and driven.

In the present invention, the non-circular rotating body is made of one of a non-circular gear and a cam.

In the present invention, the drive cable is installed separately into two first and second cables, and one end of the first and second cables is connected to the link member, and is connected by a reciprocating routed cable for torque amplification. The other ends of the first and second cables are connected to the operating member and are connected to each other by a reciprocating routed cable for speed amplification.

In the present invention, a gravity compensation spring for mechanical gravity compensation is installed in the base, and one end of the first gravity compensation spring is extended to the link member to form a gravity compensation cable, and the gravity compensation cable reciprocates. It consists of routed cables.

In the present invention, the joint part is made of one of a rotary joint, a continuum joint, and a rolling joint.

According to an embodiment of the present invention, bidirectional cable driving of the joint is possible using only one motor, torque can be amplified through repetitive routing cables applied to the rolling joint, and rotation is possible based on a single rotation axis.

In addition, even when applied to a plurality of joints connected in series, it is possible to drive independent joints by eliminating motion interference between joints, and it retains the characteristics of a rotary joint, making it suitable for the application of a mechanical gravity compensation mechanism.

1 is a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a first embodiment of the present invention.

Figure 2 is a detailed view of the cable driving part of Figure 1.

Figure 3 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a second embodiment of the present invention.

Figure 4 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a third embodiment of the present invention.

Figure 5 is a configuration diagram of a cable driving part of a cable-driven rotary joint device for a wearable robot according to a fourth embodiment of the present invention.

Figure 6 is a configuration diagram of the cable driving part of the cable-driven rotary joint device for a wearable robot according to the fifth embodiment of the present invention.

Figure 7 is a configuration diagram of the cable driving part of the cable-driven rotary joint device for a wearable robot according to the sixth embodiment of the present invention.

Figure 8 is a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a seventh embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 shows a configuration diagram of a cable-driven rotary joint device for a wearable robot according to a first embodiment of the present invention.

Figure 2 shows a detailed view of the cable drive part of Figure 1.

1 and 2, the cable-driven rotary joint device for a wearable robot according to the first embodiment of the present invention includes one base 120 and a rotatable or driveable installation on one side of the base 120. A first joint 120a, a cable drive unit 1 installed on the base 120 to drive the first joint 120a, and a cable drive unit 1 connected to the cable drive unit 1 and driven by the cable drive unit 1. It is configured to include drive cables 121 and 123 and a link member 140 installed and connected to (or linked to) the first joint portion 120a.

When comparing the cable-driven rotary joint device for a wearable robot according to the first embodiment of the present invention configured as described above to a human body, the base 120 corresponds to the upper arm, and the first joint portion ( 120a) may correspond to the elbow, and the link member 140 may correspond to the forearm.

Additionally, the cable driving unit 1 may correspond to a shoulder.

And, as shown in more detail in FIG. 2, the cable drive unit 1 includes a fixing member 20a fixed to the base 120 and an operating member installed to operate in conjunction with the fixing member 20a. (20), an actuator or drive motor (M) installed on the fixing member (20a), and a spool or pulley (105), one side of which is installed on the pulley (105) and both ends of which are installed on the operating member (20) for operation. It is configured to include a motor cable 111 that operates the member 20.

The drive cables 121 and 123 are installed separately into two first and second cables 121 and 123, and one end of the first and second cables 121 and 123 is fixedly installed on the operating member 20 of the cable drive unit 1.

In addition, the other ends of the first and second cables 121 and 123 are connected to the link member 140 and installed to drive the link member 140.

That is, the other end of the first cable 121 of the drive cables 121 and 123 may be extended in the form of a routing cable 192 on one side of the link member 140, and the other end of the second cable 123 may be formed to extend to one side of the link member 140. Similarly, on the other side of the link member 140, it may be formed to extend in the form of a routing cable 191.

And, as shown in FIG. 2, the fixing member 20a and the operating member 20 may contact each other to form a rolling surface 21 that allows rolling movement.

That is, the cable drive unit 1 corresponding to the motor drive side joint may be formed in the form of a rolling joint. Because of this, a rolling motion can be performed through the portion where the fixing member 20a formed as the rolling surface 21 and the operating member 20 come into contact with each other.

In addition, a gravity compensation spring 122 is installed on the base 120 for mechanical gravity compensation, and one end of the gravity compensation spring 122 is extended and installed on the link member 140 to form a gravity compensation cable 193. can do.

And the gravity compensation cable 193 is made up of a reciprocating routed cable, enabling torque amplification.

Figure 3 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a second embodiment of the present invention.

Prior to the description, among the drawing numbers of the embodiments described later, the same drawing numbers as those of the first embodiment of FIG. 1 indicate the same members, so in the drawings of the embodiments described later, the members with the same drawing numbers as those of the first embodiment are indicated. We will omit the explanation.

However, in Figures 3 and 5, which will be described later, the drive motor (M) is omitted for convenience so that the configuration can be seen more clearly.

Referring to FIG. 3, the cable-driven rotary joint device for a wearable robot according to the second embodiment of the present invention connects the other ends of the first and second cables 121a and 123a of the cable drive unit 3 to the operating member 20. It can be installed connected, but can be installed connected with a round-trip routed cable to amplify speed.

At this time, as shown in FIG. 3, a roller, pulley, or idler 11 may be installed to wind the first and second cables 121a and 123a into a reciprocating routed cable.

In addition, Figure 4 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a third embodiment of the present invention.

Referring to FIG. 4, the cable-driven rotary joint device for a wearable robot according to the third embodiment of the present invention includes a fixing member 20a and an operating member to maintain the distance between the rolling surface 21 of the cable driving unit 4. An intermediate link (carrier) 41 is provided at the center of (20), and this intermediate link (41) can be rotated by a drive motor (M).

In addition, Figure 5 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a fourth embodiment of the present invention.

Referring to FIG. 5, in the case of the cable driving unit 5 of the cable-driven rotary joint device for a wearable robot according to the fourth embodiment of the present invention, as long as it is driven while engaging with the center of the operating member 20 and the fixing member 20a. It may further include a pair of gears 42.

In the case of the cable driving unit 5 of the fourth embodiment of FIG. 5, the pair of gears 42 may be added to the above-described third embodiment of FIG. 4 to enable constant or stable rotation. there is.

In addition, Figure 6 shows a cable driving unit of a cable-driven rotary joint device for a wearable robot according to a fifth embodiment of the present invention.

Referring to FIG. 6, in the case of the cable drive unit 6 of the cable-driven rotary joint device for a wearable robot according to the fifth embodiment of the present invention, a sun gear 93 installed at the center of the fixing member 20a and , a planetary gear 92 installed in the center of the operating member 20 and meshed with the sun gear 93, and a ring gear meshed with the planetary gear 92 to enable the planetary gear 92 to perform a certain circular motion ( 91) is included.

With this configuration, the operating member 20 makes a constant rolling motion.

In the case of the cable driving units 3, 4, 5, and 6 of the cable-driven rotary joint device for a wearable robot according to the second to fifth embodiments of the present invention as described above, the difference from the first embodiment is the pulley 105. Instead of the motor cable 111, a different configuration was applied to ensure stable movement.

And Figure 7 shows the cable driving unit of the cable-driven rotary joint device for a wearable robot according to the sixth embodiment of the present invention.

Referring to FIG. 7, the cable drive unit 7 of the cable-driven rotary joint device for a wearable robot according to the sixth embodiment of the present invention includes a fixing member 80 fixed to the base 120, and this fixing member 80. ), a driving motor (M) installed in the drive motor (M), a pair of non-circular rotating bodies (82) rotationally driven by the driving motor (M), and a pulley or roller (81) each installed on the non-circular rotating bodies (82) It is composed including.

In addition, both ends of the drive cables 121 and 123 are respectively installed on the pulley 81 and driven.

And the non-circular rotating body 82 may be formed of a non-circular gear or cam.

Meanwhile, drawing number 11, which is not explained in the drawing, indicates a roller, pulley, or idler that guides the cable.

And Figure 8 shows the second joint of the cable-driven rotary joint device for a wearable robot according to the seventh embodiment of the present invention.

Prior to description, the seventh embodiment of FIG. 8 differs from the first embodiment of FIG. 1 only in the configuration of the main portion of the second joint, which will be described later, and other configurations are the same, and description of the same configuration will be omitted here. .

Referring to FIG. 8, the second joint portion 120b of the cable-driven rotary joint device for a wearable robot according to the seventh embodiment of the present invention may be configured as a continuum joint.

That is, the base 120 and the link member 140a are connected with a connecting member 61 made of a flexible or soft material, so that the link member 140a is driven (or moved).

Additionally, the material of the connecting member 61 is not limited to a specific material as long as it is elastic and durable (eg, polyurethane, etc.).

Meanwhile, the first joint 120a of FIG. 1 is a link-type rotary joint, and the second joint 120b is a continuum joint.

In addition to the joint types of the first and second joints 120a and 120b, it is possible to configure a rolling joint capable of rolling movement like the cable drive unit of the various embodiments already described above, and the rolling joint includes a gear, an intermediate link, Or/and a reciprocating routing cable may be further configured.

The cable-driven rotary joint device for a wearable robot according to the present invention as described above is composed of a lightweight rotary joint configuration capable of cable driving and can be applied to wearable robots, and is used in various types of industrial manipulators, walking robots, service robots, etc. It can be easily applied to robots.

In addition, the cable-driven rotary joint device for a wearable robot according to the present invention is equipped with two joints connected in series in a wearable robot, a cable drive device and a gravity compensation device for driving them, and one drive motor (or actuator). Bidirectional cable operation of the joint is possible using only (M).

In addition, the cable-driven rotary joint device for wearable robots according to the present invention can amplify torque or speed through repetitive routing cables applied to general rolling joints, and rotates about a single rotation axis, making it very suitable for wearable robots.

In addition, the cable-driven rotary joint device for a wearable robot according to the present invention can operate independent joints by eliminating motion interference between joints even when applied to a plurality of joints connected in series.

In addition, the cable-driven rotary joint device for a wearable robot according to the present invention has the characteristics of a general rotary joint and is therefore suitable for the application of a mechanical gravity compensation mechanism.

As described above, the present invention has been described with reference to an embodiment shown in the drawings, but this is merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand.

Therefore, the true scope of protection of the present invention should be determined only by the appended claims.

[Explanation of symbols]

1,3,4,5,6,7. cable drive unit

20. Operating member

20a. fixing member

41. Middle link

42. Gear

61. Connecting members

80. Fixing members

82. Non-circular rotating body

91. Ring gear

92. Planetary gear

93. Sungear

105. Pulley

111. Motor cable

120. Bass

120a. first joint

120b. second joint

121,121a,123,123a. drive cable

122. First gravity compensation spring

140. Absence of link

Claims (15)

with base; a joint installed on the base; A link member installed and linked to the joint portion; a drive cable on one side of which is connected to the link member to drive the link member; A cable drive rotary joint device for a wearable robot, comprising: a cable drive unit connected to the other side of the drive cable to drive the drive cable to drive the link member. According to paragraph 1, The cable driving unit, a fixing member fixedly installed on the base; an operating member installed to operate in conjunction with the fixing member; A cable-driven rotary joint device for a wearable robot, comprising a drive motor installed on the fixing member. According to paragraph 2, a pulley coupled to the drive motor; A motor cable with one side installed on the pulley and both ends installed on the operating member to operate the operating member. Cable-driven rotary joint device for a wearable robot, further comprising: According to paragraph 2, Cable driven rotary joint device for a wearable robot, characterized in that both ends of the drive cable are fixedly installed on the operating member. According to paragraph 2, A cable-driven rotary joint device for a wearable robot, wherein the fixing member and the operating member come into contact with each other to form a rolling surface that allows rolling movement. According to clause 5, An intermediate link is provided at the center of the fixing member and the operating member to maintain the distance between the rolling surfaces, The intermediate link is a cable-driven rotary joint device for a wearable robot, characterized in that the rotation by the drive motor. According to clause 6, A cable-driven rotary joint device for a wearable robot, further comprising a pair of gears driven in engagement at the centers of the operating member and the fixing member. According to clause 5, a sun gear installed at the center of the fixing member; a planetary gear installed at the center of the operating member and engaged with the sun gear; A cable-driven rotary joint device for a wearable robot, further comprising a ring gear that engages with the planetary gear and causes the planetary gear to rotate. According to paragraph 1, The cable driving unit, a fixing member fixedly installed on the base; a drive motor installed on the fixing member; a pair of non-circular rotating bodies driven by the drive motor; Including a pulley installed on each of the non-circular rotating bodies, A cable driven rotary joint device for a wearable robot, characterized in that both ends of the drive cable are respectively installed on the pulley and driven. According to clause 9, The non-circular rotating body is a cable-driven rotary joint device for a wearable robot, characterized in that it consists of one of a non-circular gear and a cam. According to paragraph 1, The driving cable is installed separately into first and second cables, A cable-driven rotary joint device for a wearable robot, wherein one end of the first and second cables is connected to the link member and connected by a reciprocating routed cable for torque amplification. According to clause 11, The other ends of the first and second cables are connected to the operating member, and are connected to each other by a reciprocating routed cable for speed amplification. According to paragraph 1, A gravity compensation spring is installed in the base for mechanical gravity compensation, A cable-driven rotary joint device for a wearable robot, characterized in that one end of the first gravity compensation spring is extended and installed on the link member to form a gravity compensation cable. According to clause 13, The gravity compensation cable is a cable-driven rotary joint device for a wearable robot, characterized in that it consists of a reciprocating routed cable. According to paragraph 1, A cable-driven rotary joint device for a wearable robot, wherein the joint portion is made of one of a rotary joint, a continuum joint, and a rolling joint.

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